JP2009261121A - Motor control apparatus - Google Patents

Motor control apparatus Download PDF

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Publication number
JP2009261121A
JP2009261121A JP2008106713A JP2008106713A JP2009261121A JP 2009261121 A JP2009261121 A JP 2009261121A JP 2008106713 A JP2008106713 A JP 2008106713A JP 2008106713 A JP2008106713 A JP 2008106713A JP 2009261121 A JP2009261121 A JP 2009261121A
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Japan
Prior art keywords
rotor
magnet rotor
torque
rotational speed
magnet
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JP2008106713A
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Japanese (ja)
Inventor
Yoichi Kaneko
陽一 金子
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Asmo Co Ltd
アスモ株式会社
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Priority to JP2008106713A priority Critical patent/JP2009261121A/en
Publication of JP2009261121A publication Critical patent/JP2009261121A/en
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Abstract

<P>PROBLEM TO BE SOLVED: To provide a motor control apparatus capable of suppressing the calculation load, while suppressing generation of torque ripples in a motor. <P>SOLUTION: The harmonic information of harmonics generated at a magnet rotor in a cycle of an integral multiple of a cycle at which a rotor 2 makes a single turn is previously stored in a harmonics map storage part 74, according to the torque and the rotational speed of a rotor 2 of the motor 20. The harmonic information corresponding to a torque of the rotor 2 and a rotational speed of the magnet rotor is read from a harmonics map storage part 74, and a voltage applied to each winding 6 of a stator 1 is corrected so as to suppress the harmonics shown by the read harmonics information. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a motor control device, and more particularly to a motor control device in which a magnet rotor is rotated by a rotating magnetic field generated by a current flowing in each winding in order.

  A brushless motor is known as a motor without a brush and a commutator. This brushless motor is suitable for long-term driving because the brushed motor is in contact with the commutator and the brush is free from frictional wear. For this reason, it is widely used as a drive motor in an environment where the frequency of use is intense and maintenance is not performed regularly.

  In this brushless motor, a magnet rotor including a permanent magnet is generated by a rotating magnetic field generated by sequentially applying a voltage to each winding of an armature having a plurality of phase windings and causing a current to flow through each winding in turn. Rotate.

  In an ideal brushless motor, the induced voltage generated in each winding by the rotation of the magnet rotor becomes a sine wave. For this reason, it is said that low vibration and low noise can be realized by applying sine wave energization to each winding in accordance with the sine wave of the induced voltage.

  However, in an actual brushless motor, when an electric current flows with a load applied, distortion occurs in the waveform of the induced voltage generated in each winding due to magnetic saturation. Therefore, each winding is energized with a sine wave according to the sine wave of the induced voltage. If only, torque ripple may occur in the motor.

As a motor control device that reduces the occurrence of torque ripple, Patent Document 1 discloses that a sine wave of an induced voltage generated in each winding is coordinate-converted into a dq coordinate system, and a harmonic component included in the sine wave after the coordinate conversion is converted. By calculating the resulting torque ripple, calculating the harmonic current command value that generates torque in the opposite phase to the calculated torque ripple, and controlling the voltage applied to each winding based on the harmonic current command value A technique for reducing torque ripple is disclosed.
JP 2004-64909 A

  However, although the technique of Patent Document 1 can reduce the occurrence of torque ripple, the harmonic current command value that generates a torque having a phase opposite to that of the torque ripple is obtained by converting the sine wave of the induced voltage into the dq coordinate system. Since it is obtained by calculation, there is a problem that the calculation load is large.

  When the calculation load is large as described above, a processor capable of high-speed calculation is required to control the rotation of the motor, and the motor control device becomes expensive.

  The present invention has been made in view of the above-described facts, and an object of the present invention is to provide a motor control device that can suppress the calculation load while reducing the occurrence of torque ripple in the motor.

  In order to achieve the above object, a motor control device according to the first aspect of the present invention includes a voltage applying unit that sequentially applies a voltage to each winding of an armature having a plurality of phases of windings, and the voltage is applied by the voltage applying unit. Rotation speed detection means for detecting the rotation speed of a magnet rotor that is rotated by a rotating magnetic field generated when current is sequentially applied to each winding, and rotation of the magnet based on the current flowing through each of the plurality of windings. Torque deriving means for deriving the torque of the rotor, and harmonics related to the harmonics generated in the magnet rotor in a cycle that is an integral multiple of the cycle of rotation of the magnet rotor according to the torque and rotational speed of the magnet rotor Storage means for storing wave information in advance; torque of the magnet rotor derived by the torque deriving means; and rotational speed of the magnet rotor detected by the rotational speed detection means Correction means for reading out the corresponding harmonic information from the storage means and correcting the voltage applied to each winding of the armature from the voltage application means so as to reduce the harmonics indicated by the read harmonic information. And.

  According to a first aspect of the present invention, a voltage is applied to each winding of an armature having a plurality of phase windings by the voltage applying means, and a rotating magnetic field generated by applying a voltage and causing a current to flow to each winding in turn. The rotation speed of the rotating magnet rotor is detected by the rotation speed detecting means, and the torque of the magnet rotor is derived by the torque deriving means based on the currents flowing in the windings of the plurality of phases.

  The motor control device according to claim 1 is generated in the magnet rotor by the storage means at a cycle that is an integral multiple of a cycle in which the magnet rotor rotates once according to the torque and rotation speed of the magnet rotor. Harmonic information related to the harmonics is stored in advance, and the harmonic information according to the torque of the magnet rotor derived by the torque deriving means and the rotational speed of the magnet rotor detected by the rotational speed detecting means by the correcting means. Is read from the storage means, and the voltage applied to each winding of the armature is corrected by the voltage applying means so as to reduce the harmonics indicated by the read harmonic information. The harmonic information may be information on the period and amplitude of the harmonics generated according to the torque and rotational speed of the magnet rotor, and information on the reverse phase waveform that cancels the generated harmonics. It may be.

  As described above, according to the present invention, harmonic information related to harmonics generated in the magnet rotor is stored at a cycle that is an integral multiple of the cycle of rotation of the magnet rotor according to the torque and rotational speed of the magnet rotor. In order to reduce the harmonics indicated by the read harmonic information, the harmonic information corresponding to the torque of the magnet rotor and the rotational speed of the magnet rotor is read from the storage means. Since the voltage applied to each winding of the child is corrected, the calculation load can be suppressed while reducing the occurrence of torque ripple in the motor.

  According to the second aspect of the present invention, the voltage applying unit is configured such that the current flowing through the plurality of phase windings is divided into a d-axis current corresponding to an excitation current and a q-axis current corresponding to a torque generation current. Further, voltage control means for controlling a voltage applied to each winding of the armature is further provided, and the correction means corrects the q-axis current so as to reduce harmonics indicated by the harmonic information. Good.

  According to the second aspect of the present invention, since the q-axis current is a component that rotates the rotor, the occurrence of torque ripple in the motor can be reduced by correcting the q-axis current.

  According to a second aspect of the present invention, as in the third aspect, the correction means may further correct the d-axis current so as to reduce the harmonics indicated by the harmonic information.

  According to this invention of Claim 3, generation | occurrence | production of the exciting force with respect to the radial direction of a rotor can be reduced.

  Further, according to the present invention, as described in claim 4, when the magnet rotor has a number of magnetic poles of P poles, a radial accommodation hole extending in a substantially radial direction and a substantially V convex in a radially outward direction. P-shaped V-shaped receiving holes are alternately formed in the circumferential direction, and magnets are disposed in the radial receiving holes, and each of the V-shaped receiving holes forms a V-shape. It is preferable that each magnet is accommodated in each magnet accommodating portion corresponding to a straight line.

  According to the fourth aspect of the present invention, the 11th and 13th harmonics can be reduced among the harmonics generated when the rotor rotates.

  In the present invention, the rotational speed detecting means detects the rotational speed of the magnet rotor based on a pulse signal output every time the magnet rotor rotates by a predetermined angle. And estimating means for estimating the rotation angle of the magnet rotor while the pulse signal is output by obtaining an acceleration of the rotation speed of the magnet rotor.

  According to the fifth aspect of the present invention, even when the rotation angle of the magnet rotor is detected by a low-cost, low-resolution rotation sensor, the rotation angle and rotation speed of the magnet rotor can be accurately estimated.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

  1 and 2 show a motor 20 according to the present embodiment.

  As shown in FIG. 1, the motor 20 includes a stator 1 and a rotor 2.

  The stator 1 is formed in a substantially cylindrical shape as a whole, and is formed so as to extend from the inner peripheral surface of the cylindrical portion 3 forming the outer shape toward the axial center (inward in the radial direction) at equal circumferential intervals. The stator core 5 having the teeth 4 and the windings 6 wound around the teeth 4 by concentrated winding via insulators (not shown) (partially shown by a two-dot chain line in FIG. 1). . In the present embodiment, twelve teeth 4 are formed. And every four windings 6 of each tooth 4 are classified into three phases (U phase, V phase, W phase) and connected in series as shown in FIG. At the same time, one end thereof is connected to a common neutral point Z, and an alternating current having a phase difference of 120 degrees is supplied to the other end of each phase.

  The rotor 2 includes a rotating shaft 7, a rotor core 8 fixed to the rotating shaft 7, and magnets disposed in receiving holes (radial receiving holes 8 a and V-shaped receiving holes 8 b) formed in the rotor core 8. 9 and 10. Note that the number of magnetic poles in the rotor 2 is P poles and is set to 8 poles in the present embodiment.

  The rotor core 8 is formed in a substantially cylindrical shape by stacking core sheets in the axial direction, and the rotation shaft 7 is fitted in the center hole thereof, and is supported rotatably inside the stator 1. In addition, the housing hole penetrating in the axial direction so as to house the magnets 9 and 10 in the rotor core 8 includes a radial housing hole 8a extending in the radial direction and a substantially V-shaped V-shaped housing projecting radially outward. The number of the holes 8b is P / 2, and in the present embodiment, four (8/2 =) are formed, and they are alternately formed in the circumferential direction at equal angular intervals.

  At the radially outer end of the radial accommodation hole 8a, a large portion 8c is formed in which the width seen in the axial direction (in the direction perpendicular to the radial direction) is set to be larger than that of other portions (in FIG. 1, (See the partial enlarged view on the left). The large portion 8 c of the present embodiment is formed in the entire axial direction of the rotor core 8 (so as to penetrate). Further, on the radially inner side of the large portion 8c on the radially outer side of the radial accommodation hole 8a, a width viewed in the axial direction (in a direction orthogonal to the radial direction) is set to restrict the movement of the magnet 9 to the radially outer side. A protruding portion 8d protruding in a direction perpendicular to the radial direction is formed so as to be smaller than other portions. The protruding portions 8d are formed to protrude from the both sides in the circumferential direction by the same amount. Further, the distance X (in the direction orthogonal to the radial direction) between the pair of protruding portions 8d is set to be larger than the radial width Y of the large portion 8c.

  The V-shaped accommodation hole 8b includes a pair of magnet accommodation portions 8e corresponding to two straight lines forming the V-shape, and a top portion 8f that communicates the outer sides in the radial direction of the magnet accommodation portions 8e. On the radially outer side of the magnet housing portion 8e, a protruding portion 8g is formed that protrudes so that the width viewed from the axial direction is smaller than the other portion so as to restrict the movement of the magnet 10 to the radially outer side. Moreover, the magnet accommodating part 8e of this Embodiment is linear shape seeing from the axial direction, and the width | variety is made constant in radial direction. In addition, the angle which a pair of magnet accommodating part 8e (V shape) of the V-shaped accommodation hole 8b of this Embodiment makes is set to about 50 degrees. Further, the angular width θ1 between the radially outer end (ie, the large portion 8c) of the radial accommodation hole 8a and the radially outer end (ie, the top portion 8f) of the V-shaped accommodation hole 8b, which are adjacent in the circumferential direction, is The angle width θ2 of the radially inner end of the tooth 4 is set to be larger. Further, the angular width θ3 of the radially outer end portion (ie, the large portion 8c) of the radial accommodation hole 8a is set to be the same as the angular width θ4 of the radially outer end portion (ie, the top portion 8f) of the V-shaped accommodation hole 8b. ing. Further, the angular width θ3 of the radially outer end portion (that is, the large portion 8c) of the radial accommodation hole 8a is set smaller than the angular width θ2 of the radially inner end portion of the tooth 4.

  Further, the radially inner end of the magnet housing portion 8e in the present embodiment is orthogonal to the radial direction on the side portion of the radial housing hole 8a, more specifically on the radially inner side of the radial housing hole 8a, as viewed from the axial direction. It is formed so as to face the side (inner wall surface) facing the direction (see the partial enlarged view on the right side in FIG. 1). And the width | variety seen from the axial direction of the inner side bridge | bridging part 8h formed between the radial direction inner side of the magnet accommodating part 8e and the radial direction accommodating hole 8a is formed so that it may become constant along a radial direction. In addition, this is implement | achieved by extending substantially triangular-shaped extension part 8i seeing from an axial direction at the radial direction inner side edge part of the magnet accommodating part 8e. Further, the longitudinal direction of the magnet housing portion 8e in the present embodiment is inclined at about 70 degrees with respect to the longitudinal direction of the radial housing hole 8a. Further, the rotor core 8 having the above-described shape has an outer bridge portion 8j formed between the radially outer side (large portion 8c) of the radial accommodating hole 8a and the outer peripheral surface of the rotor core 8, and the magnet accommodating portion 8e (specifically, the top portion). The outer bridge portion 8k is formed between the radially outer side of 8f) and the outer peripheral surface of the rotor core 8. The radial thicknesses of the outer bridge portions 8j and 8k are set to be constant (in the circumferential direction) and set to be the same. The circumferential lengths of the outer bridge portions 8j and 8k are set to be the same because the angular widths θ3 and θ4 are the same. Magnets 9 and 10 are disposed in the radial accommodation hole 8a and the magnet accommodation portion 8e, respectively.

  The magnets 9 and 10 are formed in a substantially rectangular parallelepiped shape magnetized in the short direction when viewed from the axial direction. And the magnet 9 arrange | positioned in the radial direction accommodation hole 8a and the magnet 10 arrange | positioned in the magnet accommodating part 8e adjacent to the one of the circumferential direction comprise one magnetic pole (for example, S pole). In addition, a different magnetic pole (for example, N pole) is configured by the magnet 9 disposed in the radial accommodation hole 8a and the magnet 10 disposed in the magnet accommodation portion 8e adjacent to the other in the circumferential direction. is doing. The axial lengths of the magnets 9 and 10 of the present embodiment are set to be the same as the axial length of the rotor core 8.

  As described above, in the motor 20 according to the present embodiment, the magnet 9 disposed in the radial accommodation hole 8a has a magnetic pole formed on one side in the circumferential direction (one magnetic pole in the rotor 2, for example, S). And a part of the magnetic pole formed on the other circumferential side (the other magnetic pole in the rotor 2, for example, the N pole), and thus in the radial accommodation hole 8a. The magnet 9 disposed in the is shared by the two magnetic poles. Therefore, when the number of magnetic poles is P, the number of the magnets 9 and 10 is (3/2) P as a whole, so that the number of magnets can be reduced compared to the conventional (2P as a whole). In the present embodiment, there are 12 magnets 9 and 10 with 8 poles.

  The motor 20 includes a motor control device 40 for controlling the rotational speed of the rotor 2.

  FIG. 3 shows the configuration of the motor control device 40 according to the present embodiment.

  The motor control device 40 includes a rotation sensor 42 for detecting the rotation speed of the rotor 2, a controller 50 for controlling the rotation speed of the rotor 2 based on the output of the rotation sensor 42, and a control from the controller 50. An inverter 44 for rotating the motor 20 by supplying an alternating current to each winding 6 classified into three phases, and an actual current iu actually flowing from the inverter 44 to each U-phase and V-phase winding 6 of the motor 20 , Iv, and current sensors 46A, 46B are configured as main components.

  The inverter 44 is a DC voltage of a DC power source (not shown) such as a battery according to a current designation value of each phase of U, V, and W input from the controller 50 by a power conversion element such as an FET (Field Effect Transistor). And three-phase AC voltages U, V, and W are applied to the windings 6 classified into the three phases.

  The rotation sensor 42 is provided in the motor 20 and outputs a pulse signal to the controller 50 every time the magnetic pole of the rotor 2 is detected by the Hall IC.

  Current sensors 46A and 46B detect U-phase and V-phase phase currents iu and iv of motor 20 and output signals indicating phase currents iu and iv to controller 50, respectively.

  The controller 50 is electrically connected to the rotation sensor 42, the current sensors 46A and 46B, and the external device, respectively, and the pulse signal from the rotation sensor 42, the signals indicating the phase currents iu and iv from the current sensors 46A and 46B, and the external A rotation speed command signal indicating a target rotation speed is input from the apparatus. The controller 50 includes a CPU that is an arithmetic unit, a RAM and a ROM that are storage devices, and the like. The pulse signal input from the rotation sensor 42, the signal input from the current sensors 46A and 46B, and the rotation input from the outside. Based on the number command signal, the presence / absence of power supply to each winding 6 and the magnitude of the supply current are controlled via the inverter 44.

  That is, the controller 50 detects the rotation angle θ of the rotor 2 by counting the number of pulses of the pulse signal input from the rotation sensor 42, and detects the pulse width of the pulse signal or the number of pulses per unit time. Thus, the rotation speed of the rotor 2 is detected, and the detected rotation speed is compared with the target rotation speed indicated by the rotation speed command signal so that there is no difference between them. It is set as the structure which controls.

  FIG. 3 is a functional block diagram functionally showing the flow of control of the rotation speed by the controller 50.

  As shown in the figure, the controller 50 includes a position complementing unit 52, a speed detecting unit 54, a subtracting unit 56, a PI control unit 58, an advance value storage unit 60, an advance value derivation unit 62, Multipliers 64A and 64B, subtractors 66A and 66B, three-phase to two-phase converter 70, torque derivation unit 72, harmonic map storage unit 74, harmonic correction unit 76, addition unit 78, d An axis PI control unit 80A, a q-axis PI control unit 80B, and a two-phase / three-phase conversion unit 82 are provided.

  A pulse signal input from the rotation sensor 42 is input to the position complementing unit 52.

  By the way, as described above, the rotation sensor 42 detects the magnetic pole of the rotor 2 by the Hall IC and outputs a pulse signal. Therefore, when the number of poles of the rotor 2 is, for example, four, the rotor 2 rotates once. Only two pulses are output. Therefore, when the rotation angle of the rotor 2 is derived on the assumption that the rotor 2 is rotating at a constant speed, an error occurs in the rotation angle of the rotor 2 when the rotation speed of the rotor 2 is accelerated or decelerated. To do.

  Therefore, the position complementing unit 52 according to the present embodiment measures the elapsed time from the input of the previous pulse signal every time the pulse signal is input, and obtains the rotational speed of the rotor 2 from the elapsed time. . And the position complement part 52 calculates | requires the acceleration of a rotational speed by comparing the rotational speed of the newest rotor 2 with the rotational speed calculated | required before (this embodiment 1 time before), and the next pulse inputs it. Until now, the rotation angle of the rotor 2 is estimated assuming that the rotor 2 is accelerating at the obtained acceleration. Thereby, the error of the rotation angle of the rotor 2 is kept small. The position complementer 52 outputs the derived rotation angle of the rotor 2 to the speed detector 54.

  The speed detection unit 54 detects the rotation speed of the rotor 2 based on the change in the rotation angle of the rotor 2 estimated by the position complementing unit 52, and subtracts the detected rotation speed by a subtraction unit 56, an advance value derivation unit 62, and Output to the harmonic correction unit 76.

  In addition to the rotational speed of the rotor 2 detected by the speed detector 54, the subtracter 56 also receives a rotational speed command signal from an external device.

  The subtracting unit 56 subtracts the rotational speed of the rotor 2 from the target rotational speed indicated by the rotational speed command signal to obtain a deviation of the rotational speed of the rotor 2 with respect to the target rotational speed, and the PI control unit Output to 58.

  The PI control unit 58 performs proportional calculation (P control) of the deviation of the rotational speed of the rotor 2 obtained by the subtracting unit 56 and integral calculation (I control) for time-integrating the deviation. The value obtained by adding the proportional value and the integral value obtained by the above is multiplied by a predetermined gain coefficient, and the value obtained by the multiplication is output to the multipliers 64A and 64B as current designation values, respectively.

  On the other hand, the advance value storage unit 60 stores advance value information indicating an advance value φ that can rotate the rotor 2 most efficiently in accordance with the rotational speed of the rotor 2. The advance value information may be stored as a table of advance values corresponding to the rotational speed of the rotor 2, and is a function having the rotational speed as an input parameter and the advance value as an output parameter. Also good.

  The advance value deriving unit 62 derives an advance value φ corresponding to the rotational speed of the rotor 2 based on the advance value information stored in the advance value storage unit 60. The advance value derivation unit 62 obtains trigonometric functions sin φ and cos φ of the derived advance value φ, outputs sin φ to the multiplication unit 64A, and outputs cos φ to the multiplication unit 64B.

  The multiplying unit 64A multiplies the input current designation value by sinφ and outputs the value obtained as the d-axis current designation value id_ref to the subtraction unit 66A. The multiplication unit 64B multiplies the current designation value by cosφ. The obtained value is output to the subtraction unit 66B as the q-axis current designation value iq_ref.

  On the other hand, signals input from the current sensors 46 </ b> A and 46 </ b> B are input to the three-phase / two-phase conversion unit 70 and the torque deriving unit 72.

  The three-phase / two-phase conversion unit 70 performs three-phase / two-phase coordinate conversion of the U-phase and V-phase currents iu and iv of the motor 20 detected by the current sensors 46A and 46B, and a d-axis corresponding to the excitation current. The current is divided into a q-axis current corresponding to the torque generation current, the d-axis current is output to the subtraction unit 66A, and the q-axis current is output to the subtraction unit 66B.

  The torque deriving unit 72 calculates the torque for rotating the rotor 2 from the U-phase and V-phase phase currents iu and iv detected by the current sensors 46A and 46B and the torque constant of the motor 20, and calculates the calculated torque. Output to the harmonic correction unit 76.

  By the way, the motor 20 is distorted in the waveform of the induced voltage generated in each winding 6 due to magnetic saturation when a current flows with a load applied, and the period in which the rotor 2 makes one rotation according to the torque and the rotational speed of the rotor 2. Harmonics are generated with a period that is an integral multiple of.

  In the present embodiment, harmonic information indicating harmonics generated in the rotor 2 in the harmonic map storage unit 74 in a cycle that is an integral multiple of the cycle in which the rotor 2 rotates once, according to the torque and rotational speed of the rotor 2. Is stored in advance.

  The harmonic correction unit 76 responds to the rotation speed of the rotor 2 calculated by the speed detection unit 54 and the torque of the rotor 2 calculated by the torque deriving unit 72 from the harmonic information stored in the harmonic map storage unit 74. The harmonics generated in the rotor 2 are specified, a correction value for correcting the q-axis current is determined so as to reduce the specified harmonics, and the calculated correction value is output to the adding unit 78.

  The subtracting unit 66A subtracts the d-axis current from the d-axis current specified value id_ref to obtain a deviation of the actual d-axis current from the d-axis current specified value id_ref, and calculates the calculated d-axis current deviation as the d-axis PI control unit 80A. Output to.

  The d-axis PI control unit 80A performs a proportional calculation of the deviation of the d-axis current obtained by the subtraction unit 66A and an integral calculation that integrates the deviation over time, and the proportional value and the integral value obtained by the proportional calculation and the integral calculation. Are multiplied by a predetermined gain coefficient, and the value obtained by the multiplication is output to the two-phase / three-phase converter 82 as a d-axis current designation value.

  On the other hand, the subtraction unit 66B subtracts the q-axis current from the q-axis current designation value iq_ref to obtain an actual q-axis current deviation from the q-axis current designation value iq_ref, and the obtained q-axis current deviation to the addition unit 78. Output.

The adding unit 78 corrects the deviation of the q-axis current by adding a correction value, and outputs the corrected deviation to the q-axis PI control unit 80B.
Is output to the adder 78.

  The q-axis PI control unit 80B performs a proportional calculation of the deviation of the q-axis current corrected by the adding unit 78 and an integration calculation that integrates the deviation over time, and the proportional value and the integral value obtained by the proportional calculation and the integration calculation. Is multiplied by a predetermined gain coefficient, and the value obtained by the multiplication is output to the two-phase / three-phase converter 82 as a q-axis current designation value.

  The two-phase / three-phase conversion unit 82 performs two-phase / three-phase coordinate conversion between the d-axis current designation value obtained by the d-axis PI control unit 80A and the q-axis current designation value obtained by the q-axis PI control unit 80B. , U, V, and W current specified values are output to the inverter 44.

  Next, the operation of the motor control device 40 according to the present embodiment will be described.

  The motor 20 configured as described above is generated when the controller 50 is operated to apply the three-phase AC voltages U, V, W to the respective windings 6 classified into the three-phases from the inverter 44 and the currents flow in the respective windings 6 in order. The rotor 2 is rotated by the rotating magnetic field.

  When the rotor 2 rotates, the rotation sensor 42 outputs a pulse signal at a cycle corresponding to the rotation speed of the rotor 2 every time the magnetic pole of the rotor 2 is detected. The output pulse signal is input to the position complementing unit 52 of the controller 50.

  Each time a pulse signal is input from the rotation sensor 42, the position complementing unit 52 measures the elapsed time since the previous pulse signal was input, obtains the rotational speed of the rotor 2 from the elapsed time, and determines the latest rotor. 2 is compared with the rotation speed obtained one time before, the acceleration of the rotation speed is obtained, and it is assumed that the rotor 2 is accelerated at the obtained acceleration until the next pulse is input. Estimate the rotation angle. Then, the speed detector 54 detects the rotation speed based on the estimated change in the rotation angle.

  Further, the torque deriving unit 72 calculates the torque for rotating the rotor 2 from the U-phase and V-phase phase currents iu and iv detected by the current sensors 46A and 46B and the torque constant of the motor 20, and A d-axis current and a q-axis current are detected by performing three-phase two-phase coordinate transformation of the U-phase and V-phase phase currents iu and iv.

  The subtracting unit 56 obtains a rotational speed deviation by subtracting the rotational speed of the rotor 2 from the target rotational speed indicated by the rotational speed command signal input from the external device, and the PI control unit 58 obtains the rotational speed deviation. The specified current value is obtained by performing the PI control. Then, the advance value deriving unit 62 derives the advance value φ corresponding to the rotation speed of the rotor 2 from the current specified value, and the multiplication units 64A and 64B respectively apply trigonometric functions sin φ and cos φ to the current specified value. By multiplying, the d-axis current specified value id_ref and the q-axis current specified value iq_ref are obtained.

  Further, the three-phase / two-phase conversion unit 70 converts the U-phase and V-phase currents iu and iv of the motor 20 detected by the current sensors 46A and 46B into three-phase / two-phase coordinates and actually flows the d-axis. Obtain the current and q-axis current.

  The subtractor 66A compares the actually flowing d-axis current with the d-axis current specified value id_ref, and the subtractor 66B compares the actually flowing q-axis current with the q-axis current specified value iq_ref. Then, the deviation of the d-axis current and the deviation of the q-axis current are obtained.

  At this time, the harmonic correction unit 76 specifies harmonics generated in the rotor 2 according to the rotation speed and torque of the rotor 2 based on the harmonic information stored in the harmonic map storage unit 74, and specifies the specified harmonics. The adder 78 corrects the deviation of the q-axis current so as to reduce the wave.

  Then, the d-axis PI control unit 80A and the q-axis PI control unit 80B obtain the d-axis current designated value and the q-axis current designated value by performing PI control of deviation for each of the d-axis and q-axis, respectively, The three-phase conversion unit 82 performs two-phase three-phase coordinate conversion of the obtained d-axis current designation value and q-axis current designation value, and outputs the current designation values of the U, V, and W phases to the inverter 44. .

  The inverter 44 switches the DC voltage of a DC power source (not shown) such as a battery in accordance with the current designation values of the U, V, and W phases input from the two-phase / three-phase conversion unit 82 to three phases. A three-phase AC voltage U, V, W is applied to each of the classified windings 6 and currents are passed through the windings 6 in order to generate a rotating magnetic field to rotate the rotor 2.

  As described above, according to the present embodiment, harmonics may be generated in the rotor 2 in accordance with the torque and rotational speed of the rotor 2, but as in the present embodiment, information regarding the harmonics is generated. Is stored in advance, and correction is performed based on the information, so that generation of torque ripple in the motor 20 can be reduced while suppressing the calculation load of the controller 50.

  In FIG. 4, when the motor 20 is rotated at 2000 rpm, harmonic correction is not performed (described as “conventional”) and harmonic correction (“main control”) is performed using the configuration of the present embodiment. The state of occurrence of torque ripple is shown for each frequency of torque ripple.

  As shown in the figure, the occurrence of torque ripple in the motor 20 is reduced by adopting the configuration of the present embodiment.

  Further, as in the present embodiment, when the controller 50 divides the current flowing through each winding 6 into d-axis current and q-axis current and performs vector control on the voltage applied to each winding 6, the q-axis current is determined by the rotor 2. Is a component that rotates. For this reason, generation | occurrence | production of the torque ripple in the motor 20 can be reduced by correct | amending the deviation of q-axis current. The d-axis current is a component that vibrates the rotor 2 in the radial direction. If the rigidity of the rotor 2 in the radial direction is low, the yoke (case) of the rotor 2 is vibrated. For this reason, the deviation of the d-axis current may be further corrected.

  Further, in this embodiment, when the number of magnetic poles is P poles in the rotor 2, a radial accommodation hole 8a extending in a substantially radial direction and a substantially V-shaped V-shaped accommodation hole projecting radially outward. 8b and P / 2 are alternately formed in the circumferential direction, the magnets 9 and 10 are disposed in the radial accommodating hole 8a, and the magnets corresponding to the respective straight lines forming the V-shape of the V-shaped accommodating hole 8b. Each is disposed in the accommodating portion 8e. The motor 20 generates fifth-order, seventh-order, eleventh-order, and thirteenth-order harmonics, but with the configuration as in the present embodiment, the motor 20 is generated at a cycle that is an integral multiple of the cycle in which the rotor 2 rotates once. Among the higher harmonics, the 11th and 13th harmonics are reduced. Therefore, by storing information on the fifth and seventh harmonics as the harmonic information, the fifth, seventh, eleventh and thirteenth harmonics can be reduced.

  In the present embodiment, the case where the rotation sensor 42 outputs a pulse signal each time the magnetic pole of the rotor 2 is detected by the Hall IC has been described. However, the present invention is not limited to this, and for example, transmits light. It may be a rotation sensor composed of a code wheel having a slit and a rotation sensor that is a transmissive photo interrupter, and various other types of encoders such as an electromagnetic type and a magnetoresistive type may be employed.

  In the present embodiment, the case where the position complementing unit 52 obtains the acceleration of the rotational speed by comparing the rotational speed of the latest rotor 2 with the rotational speed obtained previously has been described, but the present invention is limited to this. Instead, for example, the acceleration of the rotational speed may be obtained based on a change in the current designation value obtained by the PI control unit 58 or a change in the q axis current designation value obtained by the q-axis PI control unit 80B. .

  In addition, the configuration of the motor 20 (see FIGS. 1 and 2) and the configuration of the motor control device 40 and the controller 50 (see FIG. 3) described in the above embodiments are merely examples, and depart from the gist of the present invention. Needless to say, it can be appropriately changed within a range not to be performed.

It is a top view of the stator and rotor of an interior magnet type motor concerning an embodiment. It is a connection diagram of the winding concerning an embodiment. It is a block diagram which shows the function structure of the motor control apparatus which concerns on embodiment. It is a graph which shows the generation situation of torque ripple for every frequency in a motor.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Stator (armature), 2 ... Rotor (magnet rotor), 6 ... Winding, 8e ... Magnet accommodation part, 8a ... Radial accommodation hole, 8b ... V-shaped accommodation hole, 8e ... Magnet accommodation part, 9, DESCRIPTION OF SYMBOLS 10 ... Magnet, 40 ... Motor control apparatus, 42 ... Rotation sensor, 44 ... Inverter (voltage application means), 46A, 46B ... Current sensor, 50 ... Controller, 52 ... Position complement part (estimation means), 54 ... Speed detection part 58... PI control section (voltage control means), 64 A, 64 B... Multiplication section (voltage control means), 70... Three-phase to two-phase conversion section (voltage control means), 72 ... Torque derivation section (torque derivation means), 74. Harmonic map storage unit (storage unit), 76 ... harmonic correction unit (correction unit), 78 ... addition unit (correction unit), 80A ... d-axis PI control unit (voltage control unit), 80B ... q-axis PI control unit (Voltage control means) 82 ... two-phase three-phase converter ( Pressure control means)

Claims (5)

  1. Voltage application means for sequentially applying a voltage to each winding of the armature having a plurality of phase windings;
    Rotational speed detection means for detecting the rotational speed of a magnet rotor that is rotated by a rotating magnetic field generated when a voltage is applied by the voltage application means and current flows in sequence in each winding;
    Torque deriving means for deriving the torque of the magnet rotor based on currents flowing through the windings of the plurality of phases,
    Storage means for preliminarily storing harmonic information related to harmonics generated in the magnet rotor in a cycle that is an integral multiple of the cycle of rotation of the magnet rotor according to the torque and rotation speed of the magnet rotor;
    The harmonic information corresponding to the torque of the magnet rotor derived by the torque deriving means and the rotational speed of the magnet rotor detected by the rotational speed detecting means is read from the storage means, and the read harmonics Correction means for correcting the voltage applied to each winding of the armature from the voltage application means so as to reduce the harmonics indicated by the information;
    A motor control device comprising:
  2. The current applied to the windings of the plurality of phases is divided into a d-axis current corresponding to the excitation current and a q-axis current corresponding to the torque generation current, and the voltage applied to each winding of the armature is controlled by the voltage applying means. A voltage control means;
    The motor control device according to claim 1, wherein the correction unit corrects the q-axis current so as to reduce a harmonic indicated by the harmonic information.
  3. The motor control device according to claim 2, wherein the correction unit further corrects the d-axis current so as to reduce a harmonic indicated by the harmonic information.
  4. In the magnet rotor, when the number of magnetic poles is P poles, radial housing holes extending in a substantially radial direction and substantially V-shaped housing holes projecting radially outward are alternately arranged in the circumferential direction. P / 2 are respectively formed, and the magnet is disposed in the radial accommodation hole and is disposed in each magnet accommodation portion corresponding to each straight line forming the V-shape of the V-shaped accommodation hole. The motor control device according to any one of claims 1 to 3.
  5. The rotational speed detection means detects the rotational speed of the magnet rotor based on a pulse signal output every time the magnet rotor rotates by a predetermined angle,
    5. The apparatus according to claim 1, further comprising an estimation unit that obtains an acceleration of a rotation speed of the magnet rotor and estimates a rotation angle of the magnet rotor while the pulse signal is output. Motor control device.
JP2008106713A 2008-04-16 2008-04-16 Motor control apparatus Pending JP2009261121A (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8378598B2 (en) 2009-02-02 2013-02-19 Asmo Co., Ltd. Motor control apparatus and motor control method
WO2014097918A1 (en) 2012-12-17 2014-06-26 株式会社ミツバ Method for controlling brushless motor, device for controlling brushless motor, and elec tric power steering device

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JPH1118483A (en) * 1997-06-23 1999-01-22 Toyota Motor Corp Operation control method and operation control device for synchronous motor
JP2001286181A (en) * 2000-03-30 2001-10-12 Fujitsu General Ltd Motor control method
JP2005210814A (en) * 2004-01-21 2005-08-04 Favess Co Ltd Motor control device
JP2006042444A (en) * 2004-07-23 2006-02-09 Toshiba Elevator Co Ltd Motor control unit
WO2006106642A1 (en) * 2005-03-31 2006-10-12 Toshiba Elevator Kabushiki Kaisha Control device
JP2007330027A (en) * 2006-06-07 2007-12-20 Asmo Co Ltd Buried-magnet motor

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH1118483A (en) * 1997-06-23 1999-01-22 Toyota Motor Corp Operation control method and operation control device for synchronous motor
JP2001286181A (en) * 2000-03-30 2001-10-12 Fujitsu General Ltd Motor control method
JP2005210814A (en) * 2004-01-21 2005-08-04 Favess Co Ltd Motor control device
JP2006042444A (en) * 2004-07-23 2006-02-09 Toshiba Elevator Co Ltd Motor control unit
WO2006106642A1 (en) * 2005-03-31 2006-10-12 Toshiba Elevator Kabushiki Kaisha Control device
JP2007330027A (en) * 2006-06-07 2007-12-20 Asmo Co Ltd Buried-magnet motor

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8378598B2 (en) 2009-02-02 2013-02-19 Asmo Co., Ltd. Motor control apparatus and motor control method
WO2014097918A1 (en) 2012-12-17 2014-06-26 株式会社ミツバ Method for controlling brushless motor, device for controlling brushless motor, and elec tric power steering device
US9455616B2 (en) 2012-12-17 2016-09-27 Mitsuba Corporation Brushless motor control method and brushless motor control device and electric power steering device

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